Double-output-shaft steering engine

Abstract

The utility model provides a double-output-shaft steering engine, and belongs to the technical field of steering engines. The angle sensors are arranged on the output shaft and the rotating shaft, the rotating angle of the output shaft is calibrated and rectified through the rotating angle of the rotating shaft, the detection error of the rotating angle of the output shaft can be reduced, and the detection precision is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of steering gears, and in particular relates to a dual-shaft steering gear. Background Art

[0002] Traditional servos are single-shaft servos, which use a drive motor as power input, and after being transmitted by a gear transmission group, the output shaft is used as power output. One end of the output shaft is used as the power output end, and a magnet is installed at the other end. An encoder is installed at the position opposite to the magnet to collect angle signals, which can achieve precise control of the output shaft rotation angle.

[0003] However, for a dual-shaft servo, both ends of the output shaft need to be connected to other structures as power output ends, and magnets cannot be arranged at the ends of the output shaft. The commonly used solution is to arrange magnets in the annular direction of the output shaft, and then set an encoder on the outside of the magnet to sense the changes in the magnet and collect angle signals. However, the magnet is not facing the encoder, which makes the encoder's induction of the magnetic lines of force have a certain deviation, affecting the accuracy of angle signal collection.

[0004] Therefore, it is necessary to provide a dual-shaft steering gear to solve the problems raised in the above background technology. Summary of the invention

[0005] The present application provides a dual-output shaft servo, in which angle sensors are arranged on both the output shaft and the rotating shaft, and the rotation angle of the rotating shaft is used to calibrate and correct the rotation angle of the output shaft, which can reduce the detection error of the output shaft rotation angle and improve the detection accuracy.

[0006] In order to solve the above technical problems, the technical solution of this application is:

[0007] A dual-shaft steering gear, comprising:

[0008] A drive motor including a rotating shaft;

[0009] An output shaft is arranged beside the driving motor and connected to the rotating shaft through a gear transmission group. The driving motor is used as a power source. The power is transmitted by the gear transmission group and then output by the output shaft.

[0010] a first angle sensor, comprising a first magnet and a first encoder, wherein the first magnet is fixed to an end of the rotating shaft, and the first encoder is arranged corresponding to the first magnet and is used to detect a rotation angle of the rotating shaft;

[0011] The second angle sensor includes a second magnet and a second encoder. The second magnet is sleeved on the periphery of the output shaft and fixed to the output shaft. The second encoder is arranged corresponding to the second magnet and is used to detect the rotation angle of the output shaft.

[0012] Preferably, the first encoder is arranged opposite to the first magnet; and the second encoder is located beside the second magnet.

[0013] Preferably, the rotating shaft includes a first end and a second end that are oppositely arranged; the output shaft includes a third end and a fourth end that are oppositely arranged, the first end and the third end are arranged on the same side, the second end and the fourth end are arranged on the same side, and the third end and the fourth end both serve as power output parts.

[0014] Preferably, the gear transmission group includes an inner shell and a gear group, the gear group is completely encapsulated in the inner shell, the first end passes through the inner shell to be exposed, and the first magnet is fixed to the first end; the second end is accommodated in the inner shell; the third end and the fourth end both pass through the inner shell to be exposed; the second magnet is arranged adjacent to the third end and is exposed outside the inner shell, and the inner shell is composed of two detachably connected parts.

[0015] Preferably, the gear set comprises a plurality of gears meshing in sequence, wherein a first-stage gear is fixed to the second end portion, and a last-stage gear is sleeved on the periphery of the output shaft.

[0016] Preferably, it further comprises a circuit board, wherein the circuit board is fixed to a side surface of the inner shell close to the first end, and the first encoder and the second encoder are both electrically connected to the circuit board.

[0017] Preferably, it further comprises a shell, the third end and the fourth end pass through the shell and are exposed outside, the first end and the second end are completely accommodated in the shell, and the shell is assembled from two detachably connected parts.

[0018] The beneficial effects of this application are:

[0019] A first magnet is added to the end of the rotating shaft, and a first encoder is used to collect the rotation angle of the rotating shaft, and the rotation angle of the output shaft is calibrated and corrected, which can reduce the detection error of the first angle sensor and improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional structural diagram showing a double-shaft steering gear provided by the present application;

[0021] Figure 2 express Figure 1 The exploded structural diagram of the double-shaft servo shown;

[0022] Figure 3 express Figure 1A cross-sectional view of a dual-shaft servo is shown. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] Please refer to Figure 1-Figure 3 The present application provides a dual-output shaft steering gear, including a drive motor 10, an output shaft 20, a first angle sensor 40, a second angle sensor 50, a circuit board 60 and a housing 70.

[0025] The driving motor 10 includes a stator, a rotor and a rotating shaft 11. The rotating shaft 11 is fixed to the rotor. The stator is used to generate a magnetic field. The rotor rotates under the action of the magnetic field after being energized. The rotating shaft 11 is fixed to the rotor and rotates with the rotor.

[0026] The output shaft 20 is arranged beside the drive motor 10, so that the axis of the output shaft 20 and the axis of the rotating shaft 11 are not on the same axis, which can reduce the arrangement length of the overall structure in the axial direction of the output shaft 20 and reduce the space occupied in a single direction, so that it can be better adapted to other structures.

[0027] The output shaft 20 is connected to the rotating shaft 11 via a gear transmission group 30 . The driving motor 10 serves as a power source. The power is transmitted by the gear transmission group 30 and then output by the output shaft 20 .

[0028] The rotating shaft 11 includes a first end 111 and a second end 112 that are oppositely disposed; the output shaft 20 includes a third end 21 and a fourth end 22 that are oppositely disposed, the first end 111 and the third end 21 are disposed on the same side, and the second end 112 and the fourth end 22 are disposed on the same side. The third end 21 and the fourth end 22 are both used as power output locations.

[0029] The first angle sensor 40 includes a first magnet 41 and a first encoder 42. The first magnet 41 is fixed to the end of the rotating shaft 11. The first encoder 42 is arranged corresponding to the first magnet 41 to detect the rotation angle of the rotating shaft 11. The first encoder 42 is arranged opposite to the first magnet 41.

[0030] The second angle sensor 50 includes a second magnet 51 and a second encoder 52. The second magnet 52 is sleeved on the periphery of the output shaft 20 and fixed to the output shaft 20. The second encoder 52 is arranged corresponding to the second magnet 51 and is used to detect the rotation angle of the output shaft 20. The second encoder 52 is located beside the second magnet 51.

[0031] Since the second magnet 52 is not arranged at the end of the output shaft 20, the setting position of the second encoder 52 can only be located in a circular direction beside the second magnet 52, and the two cannot maintain a facing setting. The second encoder 52 has a certain deviation in the induction of the magnetic flux lines. Therefore, in the present application, the first magnet 41 is added to the end of the rotating shaft 11, and the first encoder 42 is used to collect the rotation angle of the rotating shaft 11, and thereby calibrate and correct the rotation angle of the output shaft 20, which can reduce the detection error of the first angle sensor 40 and improve the detection accuracy.

[0032] The gear transmission group 30 includes an inner shell 31 and a gear group 32, the gear group 32 is completely encapsulated in the inner shell 31, the first end 111 passes through the inner shell 31 and is exposed, and the first magnet 41 is fixed to the first end 111; the second end 112 is accommodated in the inner shell 31; the third end 21 and the fourth end 22 both pass through the inner shell 31 and are exposed; the second magnet 52 is arranged near the third end 21 and is exposed outside the inner shell 31, and the inner shell 31 is spliced ​​by two detachably connected parts, inner shell one 311 and inner shell two 312, and the splicing method can be snaps, bolts, gluing, ultrasonic welding, etc.

[0033] The inner shell 31 can play the role of an internal bracket for fixing and installing the gear set 32 ​​and supporting components. At the same time, it can also play a protective role, isolating the gear set 32 ​​from the external environment, preventing external interference and extending the service life.

[0034] The gear set 32 ​​includes multiple stages of gears meshing in sequence, wherein a first stage of gears is fixed to the second end portion 112 , and a last stage of gears is sleeved on the periphery of the output shaft 20 .

[0035] The circuit board 60 is fixed to a side surface of the inner shell 31 close to the first end 111, and the first encoder 42 and the second encoder 52 are both electrically connected to the circuit board 60, and the circuit board 60 provides power, and at the same time sends the collected data to the processor on the circuit board 60 for processing to obtain the correction result of the output shaft 20. The data transmission and processing process can adopt conventional technology in the field, and this embodiment does not limit this.

[0036] The shell 70 mainly plays the role of external packaging and protection. It is assembled from two parts, a detachably connected shell 1 71 and a shell 2 72. The splicing method can be buckles, bolts, glue, ultrasonic welding, etc. The third end 21 and the fourth end 22 are both used as power output parts, so both of them are exposed outside the shell 70 to connect with the external load structure to drive the load structure to run. For example, in an intelligent building block car, the third end 21 and the fourth end 22 can be connected to two tires respectively to drive the tires to rotate to realize the walking of the intelligent building block car. The first end 111 and the second end 112 are completely contained in the shell 70, which can maintain a simple and beautiful appearance.

[0037] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A dual-shaft steering gear, characterized in that: include: A drive motor including a rotating shaft; An output shaft is arranged beside the driving motor and connected to the rotating shaft through a gear transmission group. The driving motor is used as a power source. The power is transmitted by the gear transmission group and then output by the output shaft. a first angle sensor, comprising a first magnet and a first encoder, wherein the first magnet is fixed to an end of the rotating shaft, and the first encoder is arranged corresponding to the first magnet and is used to detect a rotation angle of the rotating shaft; The second angle sensor includes a second magnet and a second encoder. The second magnet is sleeved on the periphery of the output shaft and fixed to the output shaft. The second encoder is arranged corresponding to the second magnet and is used to detect the rotation angle of the output shaft.

2. The double-shaft steering gear according to claim 1, characterized in that: The first encoder is arranged opposite to the first magnet; the second encoder is located beside the second magnet.

3. The double-shaft steering gear according to claim 1, characterized in that: The rotating shaft includes a first end and a second end that are oppositely arranged; the output shaft includes a third end and a fourth end that are oppositely arranged, the first end and the third end are arranged on the same side, the second end and the fourth end are arranged on the same side, and the third end and the fourth end both serve as power output parts.

4. The double-shaft steering gear according to claim 3, characterized in that: The gear transmission group includes an inner shell and a gear group, the gear group is completely encapsulated in the inner shell, the first end passes through the inner shell and is exposed, and the first magnet is fixed to the first end; the second end is accommodated in the inner shell; the third end and the fourth end both pass through the inner shell and are exposed; the second magnet is arranged adjacent to the third end and is exposed outside the inner shell, and the inner shell is composed of two detachably connected parts.

5. The double-shaft steering gear according to claim 4, characterized in that: The gear set includes multiple stages of gears meshing in sequence, wherein a first stage gear is fixed to the second end, and a last stage gear is sleeved on the periphery of the output shaft.

6. The double-shaft steering gear according to claim 4, characterized in that: It also includes a circuit board, which is fixed to a side surface of the inner shell close to the first end, and the first encoder and the second encoder are both electrically connected to the circuit board.

7. The double-shaft steering gear according to claim 4, characterized in that: It also includes a shell, the third end and the fourth end pass through the shell and are exposed outside, the first end and the second end are completely accommodated in the shell, and the shell is assembled from two detachably connected parts.

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